EP3100958A1 - Système d'emballage pour distributeur pharmaceutique et procédé associé - Google Patents

Système d'emballage pour distributeur pharmaceutique et procédé associé Download PDF

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Publication number
EP3100958A1
EP3100958A1 EP16175479.1A EP16175479A EP3100958A1 EP 3100958 A1 EP3100958 A1 EP 3100958A1 EP 16175479 A EP16175479 A EP 16175479A EP 3100958 A1 EP3100958 A1 EP 3100958A1
Authority
EP
European Patent Office
Prior art keywords
packages
assembly
unit dose
finger assembly
bag
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16175479.1A
Other languages
German (de)
English (en)
Other versions
EP3100958B1 (fr
Inventor
Jeffrey S BAILEY
Bobby O ARCHER
Anke FRAHN
Kimberly Hawkes
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Remedi Technology Holdings LLC
Original Assignee
Remedi Technology Holdings LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Remedi Technology Holdings LLC filed Critical Remedi Technology Holdings LLC
Priority to EP18164081.4A priority Critical patent/EP3360809B1/fr
Publication of EP3100958A1 publication Critical patent/EP3100958A1/fr
Application granted granted Critical
Publication of EP3100958B1 publication Critical patent/EP3100958B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/54—Feeding articles along multiple paths to a single packaging position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/80—Turntables carrying articles or materials to be transferred, e.g. combined with ploughs or scrapers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/22—Social work
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/0092—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for assembling and dispensing of pharmaceutical articles
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
    • G16H20/13—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients delivered from dispensers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2812/00—Indexing codes relating to the kind or type of conveyors
    • B65G2812/02—Belt or chain conveyors
    • B65G2812/02267—Conveyors having endless traction elements
    • B65G2812/02415—Conveyors having endless traction elements with load-carrying surfaces supported by traction means
    • B65G2812/02613—Conveyors having endless traction elements with load-carrying surfaces supported by traction means the load-carrying surfaces being separated from each other, e.g. individual load carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B65G47/51—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination
    • B65G47/5104—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles
    • B65G47/5109—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles first In - First Out systems: FIFO
    • B65G47/5113—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination for articles first In - First Out systems: FIFO using endless conveyors

Definitions

  • This invention in one embodiment is a packaging system for prescriptions, medication and nutritional supplements. Positive control of each unit dose package is maintained throughout the entire process. In other words, gravity feed and the random nature of medications freefalling through the system is avoided according to one aspect of this invention.
  • the various embodiments of this invention provide primary (i.e., unit dose packages), secondary (i.e., medpass bags) and tertiary packaging (i.e., travel packs containing one or more medpass bags) for unit doses of medications.
  • One aspect of this invention is a dispensing collation table which in one embodiment is an automated assembly that re-orients a linear row of up to twelve unit dose packages into a shingled, four by three array.
  • the resulting matrix is a flat, nested, compact structure that allows for robust vision verification and simplified loading into a secondary package or medpass bag.
  • Another aspect of this invention is the secondary package, also known as the 'med-pass' bag which has various advantageous design features including:
  • Prior art for unit dose vision inspection for such systems consisted of a complex array of three vision systems prior to packaging. A post packaging inspection was not possible due to a lack of predictable orientation of the unit dose packages.
  • This invention utilizes one simplified vision system prior to packaging to inspect the 2D barcodes of each unit dose package.
  • a post packaging camera utilizes a novel method of counting the number of unit dose packages in the sealed medpass bag as a quality inspection.
  • a first module 14 is configured to dispense medications/supplements having a relatively high-demand or order frequency
  • a second module 16 of the dispensing system 10 is configured to store and dispense medications/supplements having a relatively lower demand or medium order frequency.
  • the orders corresponding to each medication pass to be administered to a particular patient for that particular day are processed by the control 36 such that the unit dose packages 18 of medications/supplements 22 for each medication pass to be administered to the patient are assembled together, and the medpass bags are then grouped together in totes for delivery to the LTC facility.
  • the dispensing system 10 has been designed to be able to dispense unit dose packaged vials through the medium mover module 16.
  • the unit dose packages 18 for vials would be the same width as other medications or supplements, just longer and possibly deeper.
  • dispensing system 10 included a feature that would allow the placement of miscellaneous single doses into the system, which would then be read and picked for distribution. This is a good feature for 'ultra slow' movers and could be designed to be even more compact with various embodiments of the dispensing system 10.
  • Each medpass bag is then delivered to a bag accumulation module 500 which collects all the medpass bags for a given patient, for example, and assembles them in a heat staked bundle. Up to four or more med pass bags may be heat staked together.
  • the stacked medpass bags are then inserted into a travel pack loading module 600 which forms the travel packs and seals the accumulated medpass bags therein.
  • a label printer and offload conveyor module 700 prints a label and applies it to the sealed travel pack which is then deposited onto an offload conveyor.
  • the offload conveyor includes two parallel tracks, one for normal orders and one for stat or special urgent orders.
  • the offload conveyor deposits the labeled travel packs into a tote or other receptacle for delivery to the long term care facility.
  • each carrier 30 and the associated channel 212 on the collation module 200 any number less or more than twelve may be present on each carrier 30, channel 212 or med pass order according to various embodiments of this invention.
  • the following description is for twelve packages 18 on each carrier 30 and channel 212, although fewer or more packages 18 may be present within the scope of this invention.
  • the unit dose packages 18 are positioned adjacent the near lateral side 208 of the collation conveyor 202 and suspended in the channels 212 over the collation table 216 with the blister portion 20 of each unit dose package 18 projecting downwardly from the channel 212 as shown most clearly in FIG. 8A .
  • the first picker sub-assembly 250a retracts upwardly and extends laterally toward the nest 214 as shown in FIG. 8A .
  • the first picker sub-assembly 250a then moves downwardly with the unit dose packages 18-1, 18-2, 18-3 firmly held by the pickers 252 until the unit dose packages are positioned over the third slot 223 on the nest 214 as shown in FIG. 8C .
  • the unit dose packages 18 are pneumatically released from the pickers 252 and deposited into the third slot 223 on the nest 214 as shown in FIG. 8C .
  • the channel 212 on the collation conveyor 202 indexes or advances downstream until it is aligned with line 10A-10A of FIG. 4 .
  • the remaining unit dose packages 18 in the channel 212 are guided by the angled section 240 of the associated ribs 230 on the collation table 216 so that they are shifted toward the near lateral side 208 of the collation table.
  • the seventh, eighth and ninth unit dose packages 18-7, 18-8, 18-9 are then positioned adjacent the near lateral side 208 as shown in FIG.
  • the third picker sub-assembly 250c may extract them from the channel 212 on the collation table 216 and deposit them into the fourth slot 224 on the nest 214 as shown in FIGS. 10A-10C .
  • the unit dose packages 18-7, 18-8, 18-9 are positioned on the nest 214 so that the adjacent edges of the panel 24 of the unit dose packages overlap the panels 24 of the unit dose packages 18-1, 18-2, 18-3 in the third slot 223 on the nest 214 as shown in FIG. 10C thereby creating a shingled or overlapping arrangement between the unit dose packages 18 of the third and fourth slots 223, 224 in the nest 214.
  • FIGS. 12A-14C The sequential operation of the engagement of the unit dose package array by the upper and lower finger members 322a, 322b, 324 and the comb members 266 is shown in FIGS. 12A-14C . It is important to note that the upper finger assembly 320 is initially spaced from the lower finger assembly 318 to allow for insertion of the unit dose package array there between as shown generally in FIG. 13B . Once the lower fingers 322a, 322b are inserted into the array seated on the nest 214, the upper finger assembly 320 pivots downwardly as shown by arrow F in FIG. 14B to thereby clamp the unit dose package array between the upper and lower finger assemblies 318, 320.
  • the idler roller 428 is positioned on the end of a weighted dancer arm 488, which pivots about the opposite end to move the idler roller 428 to take up slack in the upper ply 404.
  • an idler roller is positioned on the end of another weighted dancer arm, which pivots about the opposite end to move the idler roller to take up slack in the lower ply 406.
  • the picker assembly 502 rotates approximately 90° in the direction of arrow S so as to orient the med pass bag 402 over a collection hopper 511 at the nine o'clock position for repository on the accumulation dial 508.
  • the med pass bag 402 is deposited into the accumulation hopper 511 with the double-sided tape, top edge and top tear-open perforation lines 472, 476 of the med pass bag 402 oriented as shown in FIG. 21 . If additional med pass bags 402 are included in this particular order for administration time or patient requirements, subsequent bags 402 are likewise retrieved and deposited into the accumulation hopper similar to the sequence as shown in FIGS. 18 and 20 .
  • the accumulation dial 508 rotates approximately 90° as shown by arrow T in FIG. 21 .
  • the heat staked med pass bags 402 are then in position in the hopper 511 beneath a plunger 542 at the twelve o'clock position shown in FIG. 28 and above a travel pack shell 602 which has a travel pack 604 fitted over the exterior of the shell 602 as well as the upper open top end 606 of the shell 602.
  • the plunger 542 then extends downwardly as shown in FIG. 28B to force the heat staked med pass bags 402 downwardly through the open bottom of the hopper 511 and onto the travel pack 604 on the shell 602.
  • the leading free end 610 of the supply of pack material 618 exits the positioning roller 636 and enters the space between a pair of clamp mechanisms 640, each located on a lateral side edge of the pack material 618.
  • the clamp mechanisms 640 each have a pair of opposing clamp members 642 which selectively grip the lateral edge of the pack material 618 there between.
  • the clamp mechanisms 640 are mounted on the assembly 638 for reciprocal, vertical movement. When the lateral edges of the pack material 618 are clamped between the clamp members and the clamp mechanisms 640 move downwardly, the pack material 618 is advanced or pulled downstream over the roller 636 and off of the supply spool 622 and in a downward direction as shown FIGS. 37 and 38 .
  • each pair of prongs 660 is mounted on a mounting bracket 662 which extends generally horizontally and includes an actuation rod 664.
  • the respective prongs 660 are extended toward one another and raised vertically as shown in FIGS. 36A-36B .
  • the prongs 660 are inserted into the open lower end of the pack material 618 as shown in FIG. 36B . Once the prongs 660 are inserted into the open lower end of the pack material, they are retracted outwardly as shown in FIG. 36C to engage and pull the lower open end of a pack material taut around the four spaced prongs 660.
  • Medpass bags 402 are heat staked together at a particular location on the bag 402.
  • One option is to heat stake the medpass bags 402 in the middle of the bags (right on top of the name and room location) which may make it very hard to see such information.
  • Another option is to move the heat stake location to the corner which may make flipping through the stack of staked medpass bags 402 much easier.
EP16175479.1A 2011-10-24 2012-10-24 Système d'emballage pour distributeur pharmaceutique et procédé associé Active EP3100958B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18164081.4A EP3360809B1 (fr) 2011-10-24 2012-10-24 Système d'emballage pour distributeur pharmaceutique et procédé associé

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161550787P 2011-10-24 2011-10-24
EP12843759.7A EP2771243B1 (fr) 2011-10-24 2012-10-24 Système de conditionnement pour distributeur pharmaceutique et procédé associé

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP12843759.7A Division EP2771243B1 (fr) 2011-10-24 2012-10-24 Système de conditionnement pour distributeur pharmaceutique et procédé associé

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP18164081.4A Division EP3360809B1 (fr) 2011-10-24 2012-10-24 Système d'emballage pour distributeur pharmaceutique et procédé associé

Publications (2)

Publication Number Publication Date
EP3100958A1 true EP3100958A1 (fr) 2016-12-07
EP3100958B1 EP3100958B1 (fr) 2018-04-18

Family

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Family Applications (3)

Application Number Title Priority Date Filing Date
EP18164081.4A Active EP3360809B1 (fr) 2011-10-24 2012-10-24 Système d'emballage pour distributeur pharmaceutique et procédé associé
EP16175479.1A Active EP3100958B1 (fr) 2011-10-24 2012-10-24 Système d'emballage pour distributeur pharmaceutique et procédé associé
EP12843759.7A Active EP2771243B1 (fr) 2011-10-24 2012-10-24 Système de conditionnement pour distributeur pharmaceutique et procédé associé

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP18164081.4A Active EP3360809B1 (fr) 2011-10-24 2012-10-24 Système d'emballage pour distributeur pharmaceutique et procédé associé

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP12843759.7A Active EP2771243B1 (fr) 2011-10-24 2012-10-24 Système de conditionnement pour distributeur pharmaceutique et procédé associé

Country Status (9)

Country Link
US (6) US8695779B2 (fr)
EP (3) EP3360809B1 (fr)
KR (1) KR102080036B1 (fr)
CN (3) CN106114931B (fr)
AU (3) AU2012328971B2 (fr)
BR (3) BR112014009754B1 (fr)
CA (3) CA3018688C (fr)
MX (2) MX364123B (fr)
WO (1) WO2013063081A1 (fr)

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US8695779B2 (en) * 2011-10-24 2014-04-15 Remedi Technology Holdings, Llc Packaging system for pharmaceutical dispenser and associated method
WO2013105198A1 (fr) * 2012-01-11 2013-07-18 パナソニックヘルスケア株式会社 Dispositif d'administration de médicament et procédé d'inspection de médicament dans un dispositif d'administration de médicament
ITBO20130392A1 (it) * 2013-07-23 2015-01-24 Gd Spa Dispositivo di goffratura, macchina impacchettatrice comprendente tale dispositivo
TWI576286B (zh) * 2014-01-09 2017-04-01 Jung Hua Shao Injection of the packaging mechanism
US9426362B2 (en) * 2015-01-16 2016-08-23 Mems Drive, Inc. Three-axis OIS for super-resolution imaging
GB201512819D0 (en) * 2015-07-21 2015-09-02 Scaife Martin Customised fast moving consumer goods production system
US9669951B2 (en) 2015-10-12 2017-06-06 Carefusion Germany 326 Gmbh Systems and methods for packaging devices
IT201600084468A1 (it) * 2016-08-10 2018-02-10 Universal Pack S R L Apparato e metodo di confezionamento di bustine
CN108792028B (zh) * 2017-05-03 2024-03-29 内蒙古伊利实业集团股份有限公司 一种零散提手自动整理系统
US10492987B2 (en) * 2017-06-26 2019-12-03 Parata Systems, Llc Methods, systems, and computer program products for managing multiple drug product packaging systems using a common database management system
CN109254492B (zh) * 2017-07-13 2021-02-09 宁波舜宇光电信息有限公司 摄像模组测试的传递系统
CN109712331B (zh) * 2017-12-31 2021-10-22 河北立萨信息科技有限公司 物品自动发放系统
CN108557468A (zh) * 2018-04-26 2018-09-21 阜阳盛东智能制造技术研发有限公司 一种夹持牢固的搬运机械臂
EP3636240A1 (fr) * 2018-10-09 2020-04-15 MEDI-Clear Ltd Procédés et appareil de remplissage automatique de récipients de distribution
CN110142070A (zh) * 2019-05-14 2019-08-20 上海长海医院 移液器吸头填装装置
CN110448103B (zh) * 2019-06-17 2024-04-05 赵鹏飞 一种运药车及全自动往复式中药抓药机
MX2022006723A (es) * 2019-12-04 2022-10-18 West Liberty Foods L L C Sistemas, metodos y aparatos automatizados de preparacion y envasado de alimentos.
CN112027648A (zh) * 2020-09-07 2020-12-04 俞旭烽 一种直线送料装置
CN112551139A (zh) * 2020-11-18 2021-03-26 江西优选时代包装有限公司 一种印刷包装用夹紧工装
CN115092446A (zh) * 2022-06-10 2022-09-23 上海和熠实业有限公司 一种西林瓶装盒机自动整理机构
US11964788B2 (en) * 2022-08-31 2024-04-23 Mckesson Corporation Systems and methods for automated prescription preparation
CN117087916B (zh) * 2023-10-16 2024-01-12 江苏环亚医用科技集团股份有限公司 一种药房用自动包装密封设备

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CN106114932B (zh) 2018-10-26
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US11834214B2 (en) 2023-12-05
CN104271447A (zh) 2015-01-07
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US20130098501A1 (en) 2013-04-25
US20230242287A1 (en) 2023-08-03
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